Publications by Auke Ijspeert | EPFL Graph Search

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A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. Representative results of numerical integration of the CPG model are presented to illustrate its excellent properties in terms of transition speeds, robustness and independence on initial conditions. A particularly interesting feature of the CPG is the poss

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

This article presents the first results of a project in underwater modular robotics, called Neubots. The goals of the projects are to explore, following Von Neumann’s ideas, potential mechanisms underlying self-organization and self-replication. We briefly ...

Robots have to adjust their motor behavior to changing environments and variable task requirements to successfully operate in the real world and physically interact with humans. Thus, robotics strives to enable a broad spectrum of adjustable motor behavior ...

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

Transferring motion instructions from a user enables robots to perform new and unforeseen operations. Robot collectives, in particular, offer greater adaptability to changing tasks and environments. However, effectively transferring motion instructions becomes challenging as the collective’s shape and size evolve. These changes often require additional system constraints to maintain robust motion control, which typically depends on pre-programmed knowledge of new tasks, ultimately limiting the collective’s

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

Gait phase (GP) estimation is a critical component in control of exoskeletons and prostheses, enabling seamless user interaction in various controllers. In recent years, methods based on machine learning and sensor fusion have offered advances in GP estimation, but their high computational costs and reliance on training and numerous sensors present practical challenges. Estimation methods using phase variables, such as phase-portrait-based methods, can circumvent these drawbacks. However, their lower accura

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

Maintaining balance during walking is a critical yet under-addressed challenge in the control of lower-limb exoskeletons, especially for users with progressive neurological conditions such as multiple sclerosis and muscular dystrophy. While assist-as-needed strategies have enabled flexible support in the sagittal plane, most exoskeletons lack active control in the frontal plane, limiting their ability to support mediolateral (ML) balance. In this study, we introduce a 3D Path Control strategy that enables c

We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture ...

Most recent findings in robot-assisted therapy suggest that the therapy is more successful if the patient actively participates to the movement (“assistance-as-needed”). In the present contribution, we propose a novel approach for designing highly flexible ...

A cervical spinal cord injury disrupts the signals between the brain and the region of the spinal cord that coordinates arm and hand movements, causing paralysis. Here, we engineered a chronically implanted and durable Digital Bridge that reestablishes communication between the brain and cervical spinal cord. This technology consists of a brain implant to record electrocorticography from the sensorimotor cortex, and a neurostimulation platform to deliver epidural electrical stimulation over the entire cervi

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coord ...

Wing-propelled diving birds flap their wings to move through air and water, yet the wing morphology and kinematics that enable this behavior remain poorly understood because of the difficulty of collecting in situ data. The impact of flapping frequency, wing size, and stiffness on locomotion in—and transition between—the two media are still unknown. We compared data from diving birds against experiments using a flapping-wing robot capable of flying, swimming, plunge diving, and exiting the water. We show th

Navigation of humanoids in cluttered environments is a complex task which requires sensorimotor coordination while maintaining the balance of the walker. Typically, robots rely on greedy computation of slow, inefficient and unnatural gaits. This contrasts ...

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based ...

Auke Ijspeert

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Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis

Gait-dependent Traversability Estimation on the k-rock2 Robot

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Co-evolution of Structures and Controllers for Neubot Underwater Modular Robots

A neuromechanics solution for adjustable robot compliance and accuracy

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Optimized user-guided motion control of modular robots

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Human-in-the-Loop Optimization for Terrain-and User-Adaptive Gait Phase Estimation in Phase-Portrait-Based Methods

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

3D Path Control: Can we use lower limb inter-joint coordination to assist gait and balance?

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

Adaptive Oscillators with Human-in-the-Loop: Proof of Concept for Assistance and Rehabilitation

An Implantable Digital Bridge Enables Arm And Hand Movements After Tetraplegia

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Central pattern generators for locomotion control in animals and robots: a review

Leaping out of the water: Aerial-aquatic locomotion with flapping wings

Trajectory Planning of a Bio-inspired Walker in 3D Cluttered Environments using Internal Models

Compliant universal grippers as adaptive feet in legged robots

Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms